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https://github.com/firestar5683/StarPilot.git
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firestar5683
122 lines
4.5 KiB
Python
122 lines
4.5 KiB
Python
#!/usr/bin/env python3
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import numpy as np
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def cubic_interp(x, xp, fp):
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"""Cubic interpolation using NumPy's native operations for speed."""
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# Boundary conditions
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if x <= xp[0]:
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return fp[0]
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elif x >= xp[-1]:
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return fp[-1]
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# Find interval
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i = np.searchsorted(xp, x) - 1
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i = max(0, min(i, len(xp)-2)) # clamp the index
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# Normalized position
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t = (x - xp[i]) / float(xp[i+1] - xp[i])
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# Hermite cubic formula
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return fp[i]*(1 - 3*t**2 + 2*t**3) + fp[i+1]*(3*t**2 - 2*t**3)
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def akima_interp(x, xp, fp):
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"""Akima-inspired interpolation with reduced overshoot characteristics."""
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if x <= xp[0]:
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return fp[0]
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elif x >= xp[-1]:
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return fp[-1]
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i = np.searchsorted(xp, x) - 1
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i = max(0, min(i, len(xp)-2)) # clamp the index
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t = (x - xp[i]) / float(xp[i+1] - xp[i])
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# Quintic polynomial to reduce overshoot
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t2 = t*t
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t4 = t2*t2
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t3 = t2*t
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return (fp[i]*(1 - 10*t3 + 15*t4 - 6*t3*t2)
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+ fp[i+1]*(10*t3 - 15*t4 + 6*t3*t2))
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from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
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from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
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A_CRUISE_MIN_ECO = A_CRUISE_MIN / 2
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A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
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# MPH = [0.0, 11, 22, 34, 45, 56, 89]
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A_CRUISE_MAX_BP_CUSTOM = [0.0, 5., 10., 15., 20., 25., 40.]
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A_CRUISE_MAX_VALS_ECO_EV = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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A_CRUISE_MAX_VALS_SPORT_EV = [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
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A_CRUISE_MAX_VALS_ECO_GAS = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
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A_CRUISE_MAX_VALS_SPORT_GAS = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
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def get_max_accel_eco(v_ego, ev_tuning=True):
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cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
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def get_max_accel_sport(v_ego, ev_tuning=True):
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cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV if ev_tuning else A_CRUISE_MAX_VALS_SPORT_GAS
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
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def get_max_accel_low_speeds(max_accel, v_cruise):
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return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
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def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
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return float(akima_interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]))
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def get_max_allowed_accel(v_ego):
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return float(akima_interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0])) # ISO 15622:2018
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class FrogPilotAcceleration:
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def __init__(self, FrogPilotPlanner):
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self.frogpilot_planner = FrogPilotPlanner
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self.max_accel = 0
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self.min_accel = 0
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def update(self, v_ego, sm, frogpilot_toggles):
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eco_gear = sm["frogpilotCarState"].ecoGear
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sport_gear = sm["frogpilotCarState"].sportGear
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ev_tuning = frogpilot_toggles.ev_tuning
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if sm["frogpilotCarState"].trafficModeEnabled:
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self.max_accel = get_max_accel(v_ego)
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elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
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if eco_gear:
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self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
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else:
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if frogpilot_toggles.acceleration_profile == 2:
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self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
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else:
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self.max_accel = get_max_allowed_accel(v_ego)
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else:
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if frogpilot_toggles.acceleration_profile == 1:
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self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
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elif frogpilot_toggles.acceleration_profile == 2:
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self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
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elif frogpilot_toggles.acceleration_profile == 3:
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self.max_accel = get_max_allowed_accel(v_ego)
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else:
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self.max_accel = get_max_accel(v_ego)
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if frogpilot_toggles.human_acceleration:
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self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)
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self.max_accel = min(get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego), self.max_accel)
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if sm["frogpilotCarState"].forceCoast:
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self.min_accel = A_CRUISE_MIN_ECO
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elif frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
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if eco_gear:
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self.min_accel = A_CRUISE_MIN_ECO
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else:
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self.min_accel = A_CRUISE_MIN_SPORT
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else:
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if frogpilot_toggles.deceleration_profile == 1:
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self.min_accel = A_CRUISE_MIN_ECO
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elif frogpilot_toggles.deceleration_profile == 2:
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self.min_accel = A_CRUISE_MIN_SPORT
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else:
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self.min_accel = A_CRUISE_MIN
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